Method, system and related devices for implementing vehicle automatically passing through barrier

ABSTRACT

The application discloses a method and system of implementing a vehicle automatically passing through a barrier, a vehicle controller and a road barrier controller, so as to implement the automatic passing through of the road barrier of the unmanned vehicle. The method includes: controlling, by a vehicle controller, the vehicle to drive automatically and stop at a place of the road barrier; interacting, by the vehicle controller, with a road barrier controller corresponding to the place of the road barrier to accomplish the automatic passing through of the road barrier.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/035,661, titled “METHOD, SYSTEM AND RELATED DEVICES FOR IMPLEMENTINGVEHICLE AUTOMATICALLY PASSING THROUGH BARRIER,” filed Jul. 15, 2018,published as U.S. 2019-0026959 on Jan. 24, 2019, which in turn claimsthe priority from Chinese Patent Application No. 201710601348.X, filedwith the Chinese Patent Office on Jul. 21, 2017 and entitled “METHOD,SYSTEM AND RELATED DEVICES FOR IMPLEMENTING VEHICLE AUTOMATICALLYPASSING THROUGH BARRIER”, the disclosures of which are herebyincorporated by reference in their entirety.

FIELD

The application relates to the autonomous driving field, andparticularly to a method and a system for implementing a vehicleautomatically passing through a barrier, a vehicle controller and a roadbarrier controller.

BACKGROUND

With the development of autonomous driving, autonomous vehicles will bemore and more popular. Thus, how to implement autonomous vehiclesautomatic passing through barriers becomes an urgent problem to besolved by those skilled in the art. At present, there is no relateddisclosed technology of implementing autonomous vehicles automaticallypassing through barriers.

BRIEF SUMMARY

On an aspect, embodiments of the application provides a method forimplementing a vehicle automatically passing through a road barrier,which includes:

controlling, by a vehicle controller, the vehicle to drive automaticallyand stop at the place of the road barrier; and

interacting, by the vehicle controller, with a road barrier controllercorresponding to the place of the road barrier to accomplish the vehicleautomatically passing through the road barrier.

On another aspect, embodiments of the application further provides aroad barrier controller, located in a road barrier, which includes:

a communication unit configured to receive and send information; and

a road barrier control unit configured to obtain vehicle identificationinformation of a vehicle, perform identity verification on the vehicleidentification information, and control the road barrier to be releasedthe vehicle when the verification succeeds.

On another aspect, embodiments of the application further provides avehicle controller, located in a vehicle, which includes:

a communication unit configured to receive and send information; and

a control unit configured to control the vehicle to drive automaticallyand stop at the place of a road barrier, and interact with a roadbarrier controller corresponding to the place of the road barrier toaccomplish the vehicle automatically passing through the road barrier.

An embodiment of the application further provides a system forimplementing a vehicle automatically passing through a road barrier,which includes a vehicle controller and a road barrier controller:

the vehicle controller controls the vehicle to drive automatically andstop at a place of the road barrier; and interacts with the road barriercontroller corresponding to the place of the road barrier to accomplishthe vehicle automatically passing through the road barrier; and

the road barrier controller configured to obtain vehicle identificationinformation of the vehicle, perform identity verification on the vehicleidentification information, and control the road barrier to be releasedwhen the verification succeeds.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are used to provide the further understandingof the application and constitute a part of the specification, and serveto explain the application together with the embodiments of theapplication but not limit the application.

FIG. 1 is the first one of flow diagram of a method for implementing avehicle automatically passing through a barrier in embodiments of theapplication;

FIG. 2 is the second one of flow charts of a method of implementingvehicle automatically passing through a barrier in embodiments of theapplication;

FIG. 3 is a schematic diagram of setting a ramp in a closed area such asa highway port in embodiments of the application;

FIG. 4A is one of structural schematic diagrams of setting the place ofthe road barrier to be a turnplate in embodiments of the application;

FIG. 4B is the second one of structural schematic diagrams of settingthe place of road barrier to be a turnplate in embodiments of theapplication;

FIG. 5 is the third one of flow diagram of a method of implementing avehicle automatically passing through a barrier in embodiments of theapplication;

FIG. 6 is the fourth one of flow diagram of a method of implementing avehicle automatically passing through a barrier in embodiments of theapplication;

FIG. 7 is a structural schematic diagram of a system of implementing avehicle automatically passing through a barrier in embodiments of theapplication;

FIG. 8 is a structural schematic diagram of a road barrier controller inembodiments of the application;

FIG. 9 is a structural schematic diagram of a vehicle controller inembodiments of the application.

DETAILED DESCRIPTION OF THE EMBODIMENTS

In order to make those skilled in the art better understand thetechnical solution in the application, the technical solution in theembodiments of the application will be described clearly and completelybelow in combination with the accompanying drawings in the embodimentsof the application. Obviously the described embodiments are just a partof the embodiments of the application but not all the embodiments. Basedupon the embodiments of the application, all of other embodimentsobtained by those ordinary skilled in the art without creative workshould pertain to the protection scope of the application.

In view of the problem that no scheme can achieve autonomous vehiclesautomatically passing through barriers in the prior art, the presentapplication provides a method and system for implementing a vehicleautomatically passing through a barrier, a vehicle controller and a roadbarrier controller, so as to address the problem in the prior artdescribed above.

In the method and system of implementing a vehicle automatically passingthrough a barrier provided in the embodiments of the application, a roadbarrier controller is deployed at the place of each road barrier and itcontrols whether the road barrier is to be released; after a vehiclecontroller controlling the vehicle to drive automatically and stop atthe place of a road barrier, the vehicle controller interacts with theroad barrier controller deployed at the place of the road barrier toaccomplish the vehicle automatically passing through the road barrierwithout artificial intervention, thereby the autonomous vehicleautomatically passing through the road barrier could be achieved.

First Embodiment

Referring to FIG. 1 which is a flow chart of a method of implementing avehicle automatically passing through a barrier provided by embodimentsof the application, the method includes:

Step 101: a vehicle controller located in a vehicle controls the vehicleto drive automatically and stop at the place of a road barrier;

Step 102: the vehicle controller interacts with a road barriercontroller corresponding to the place of the road barrier to accomplishthe vehicle automatically passing through the road barrier.

The road barrier controller can communicate with the vehicle controllervia a base station of cellular communication, Bluetooth, WIFI or thelike, which is not limited strictly by the present application.

In embodiments of the application, the vehicle controller can beimplemented as a DSP (Digital Signal Processor), FPGA(Field-Programmable Gate Array) controller, industrial computer, drivingcomputer, ECU (Electronic Control Unit), or VCU (Vehicle Control Unit)or the like, which is not limited strictly by the present application.

In embodiments of the application, a road barrier and a correspondingroad barrier controller are deployed at the place of each road barrier,where the road barrier controller controls the road barrier to bereleased or not to be released.

In embodiments of the application, the road barrier can be a road rod,electric retractable door or electric sliding door or the like; and theroad barrier controller can electrically control the road barrier to bereleased or not to be released.

In an embodiment of the application, the above step 102 can beimplemented specifically as the following steps 1021 to 1022, as shownin FIG. 2:

Step 1021: the road barrier controller obtains the vehicleidentification information of the vehicle and performs the identityverification on the vehicle identification information.

In an embodiment of the application, the process of the road barriercontroller obtains the vehicle identification information of the vehicledescribed in the above step 1021 can be implemented specifically as butnot limited to the following mode A1 or A2:

Mode A1: the road barrier controller identifies actively the vehicleidentification information of the vehicle.

The mode A1 can be achieved specifically by but not limited to thefollowing modes:

Mode A11: the road barrier controller controls a sensor to take an imageof the vehicle, and performs image identification processing on theimage to obtain the vehicle identification information of the vehicle.

The sensor can be a video camera which can be mounted nearly to theplace of road barrier with the lens faces directly to the parking place,e.g., mounted just on the road barrier, on the road barrier controller,or on a fixed object nearly to the place of the road barrier. The angleof the lens of the video camera can be adjusted automatically.

According to the image posted back from the camera, the road barriercontroller can perform the image processing on the image. When thevehicle identification information is identified from the image, thevehicle identification information is to be verified; when the vehicleidentification information is not identified from the image, theshooting angle of the camera is adjusted automatically and the aboveactions are repeated until the vehicle identification information isidentified.

The road barrier controller identifies the vehicle identificationinformation from the image, which can be achieved specifically by thefollowing way: the road barrier controller extracts features from theimage, compares the extracted features with the features correspondingto the preset vehicle identification information, and determines thevehicle identification information according to the features comparedsuccessfully. In an embodiment of the application, the above vehicleidentification information is the information associated only with thevehicle, for example, the vehicle identification information may belicense plate number. When the vehicle identification information is thelicense plate number, the features corresponding to the vehicleidentification information include size feature, shape (rectangularframe) feature, color (blue or black) feature, text features (length ofthe text string in the rectangular frame) and the like.

Mode A12: the road barrier controller controls the sensor to scan atwo-dimensional code or bar code on the vehicle, to obtain the vehicleidentification information of the vehicle.

In embodiments of the application, the two-dimensional code or bar codecontaining the vehicle identification information can be pasted orprinted in advance on a specified place of the vehicle, such as thefront windshield, or the left side of the vehicle.

The sensor can be a video camera which can be mounted nearly to theplace of the road barrier with the lens just faces directly to theparking place, e.g., mounted just on the road barrier, on the roadbarrier controller, or on a fixed object nearly to the place of the roadbarrier. The angle of the lens of the video camera can be adjustedautomatically.

The road barrier controller adjusts the shooting angle of the camerauntil the two-dimensional code or bar code is scanned successfully.

Mode A2: the road barrier controller receives the vehicle identificationinformation of the vehicle from the vehicle controller. That is, thevehicle controller sends actively the vehicle identification informationto the road barrier controller.

Step 1022: the road barrier controller controls the road barrier to bereleased when the verification succeeds.

In an embodiment of the application, the process of the road barriercontroller performs the identity verification on the vehicleidentification information described in the above step 1021, which canbe achieved specifically by but not limited to any of the followingmodes (modes B1 to B3):

Mode B1: the vehicle identification information of the vehicles allowedto pass through is pre-stored in the road barrier controller, and theroad barrier controller matches the obtained vehicle identificationinformation with the pre-stored vehicle identification information ofthe vehicles allowed to pass through, and determines the verification issuccessful when the match succeeds.

Mode B2: the passing rules are pre-stored in the road barriercontroller, and the road barrier controller judges whether the obtainedvehicle identification information conforms to the passing rules, and ifso, the verification is passed.

The passing rules can include but not limited to: the vehicle typeconforms to the preset vehicle types, the license plate number belongsto some predetermined regions, or the vehicle identification informationis the registered information or the like.

For example, the passing rules may include at least one of: when thetype of the vehicle is car the vehicle is allowed to pass through, whenthe type of the vehicle is truck the vehicle is allowed to pass through,when the type of the vehicle is motor vehicle the vehicle is allowed topass through, when the license plate number of the vehicle is locallicense plate number the vehicle is allowed to pass through, and whenthe license plate number is registered the vehicle is allowed to passthrough, or the like. The above rules are only examples, and it is notexhaustive here.

Mode B3: the road barrier controller sends the obtained vehicleidentification information to a server remotely, the server performs theidentity verification on the vehicle identification information, and theroad barrier controller receives the result of the identity verificationon the vehicle identification information from the server.

In the mode B3, the mode based on which the server performing theidentity verification on the vehicle identification information may bethe mode B1 or B2, and a detailed description thereof will be omittedhere.

Step 1023: the vehicle controller controls the vehicle to pass throughthe place of the road barrier when determining that the road barrier isreleased.

In an embodiment of the application, the process of the vehiclecontroller determines whether the road barrier is released described inthe above step 1023, can be achieved specifically by but not limited toany of the following modes (modes C1 to C2):

Mode C1: the vehicle controller determines that the road barrier isreleased when receiving an indication for allowing to pass through fromthe road barrier controller.

Mode C2: the vehicle controller detects whether the road barrier isreleased via an on-board sensor of the vehicle, and determines that theroad barrier is released when the releasing of the road barrier isdetected.

In an example, the mode C2 can be achieved specifically as follows: thevehicle controller pre-stores the correspondence between road barriertypes and released states, determines the type and the state of the roadbarrier by the image or point cloud data sent by the on-board sensor,matches the state with the released state corresponding to the roadbarrier type in the correspondence, and determines that the road barrieris released if the match succeeds.

For example, when the road barrier is a road rod, the correspondingreleased state is the lifted state of the road rod; when the roadbarrier is an electric retractable door, the corresponding releasedstate is the retraction state of the electric retractable door; when theroad barrier is an electric sliding door, the corresponding releasedstate is the open state of the electric sliding door. The above is onlyan example, and it is not exhaustive here.

In some relatively closed areas (e.g., warehouses, goods collecting anddistributing centers, highway ports, service areas, sea-front ports,logistics parks, railway stations, airports, factories), for the vehicleentered into the areas by mistake driving away quickly the area as soonas possible, ramps may be set around the places of road barriers. Asshown in FIG. 3, a ramp is arranged between the entrance and the exit ofthe highway port; or the place of road barrier can be set to be arotatable turnplate as shown in FIGS. 4A and 4B, where the turnplate canbe rotated toward to two directions, one is the direction of passingthrough the place of the road barrier and another is the direction ofleaving the place of the road barrier. As shown in FIG. 4A, thedirection of leaving the place of the road barrier is opposite to thedirection of passing through the road barrier, and as shown in FIG. 4B,the direction of leaving the place of the road barrier is the directiontowards to the ramp.

When the ramp is set around the place of the road barrier, the methodflow as shown in FIG. 2 described above can further includes thefollowing steps 1024 to 1025, as shown in FIG. 5:

Step 1024: when the verification fails, the road barrier controllersends a first indication information of not allowing to pass through andindicating the vehicle to leave the place of road barrier from the rampto the vehicle controller;

Step 1025: the vehicle controller controls the vehicle to start andleave the place of the road barrier when receiving the first indicationinformation.

When the place of the road barrier is set as the turnplate, the methodflow as shown in FIG. 2 described above can further includes thefollowing steps 1026 to 1027, as shown in FIG. 6:

Step 1026: when the verification fails, the road barrier controllersends a second indication information of not allowing to pass through tothe vehicle controller, and rotates the turnplate so as to make the headof the vehicle toward the direction of leaving the place of roadbarrier;

Step 1027: the vehicle controller controls the vehicle to start andleave the place of road barrier when receiving the second indicationinformation.

In an embodiment of the application, the vehicle controller controls thevehicle to drive automatically and stop at the place of the road barrierin the above step 101, which specifically includes:

the vehicle controller plans a path from the current place to the placeof the road barrier, and controls the vehicle to drive automaticallyalong the path;

the vehicle controller controls the vehicle to stop, when identifying anobject presented in the front of the vehicle as a road barrier and thedistance between the road barrier and the vehicle is less than or equalto the preset distance threshold, based on the image or point cloud datasent by an on-board sensor.

The vehicle controller can plan the path from the current place to theplace of road barrier by using the on-board map software/navigationsoftware.

The distance threshold may be an empirical value, or may be calculatedaccording to the driving speed, the inertial measurement data or thelike of the vehicle. That is, the distance threshold is the distance inwhich the vehicle drives from braking to stopping.

Second Embodiment

Based upon the same concept of the method of implementing a vehicleautomatically passing through a barrier provided in the first embodimentdescribed above, the second embodiment of the application provides asystem of implementing a vehicle automatically passing through abarrier. The structure of the system is illustrated in FIG. 7, whichincludes a vehicle controller 1 and a road barrier controller 2, where:the vehicle controller 1 controls the vehicle to drive automatically andstop at a place of a road barrier; and the vehicle controller 1interacts with the road barrier controller 2 corresponding to the placeof road barrier to accomplish the vehicle automatically passing throughthe barrier.

The road barrier controller 2 can communicate with the vehiclecontroller 1 via a base station of cellular communication, Bluetooth,WIFI or the like, which is not limited strictly by the presentapplication.

In an embodiment of the application, the vehicle controller can be aDSP, FPGA controller, industrial computer, driving computer, ECU, or VCUor the like, which is not limited strictly by the present application.

In an embodiment of the application, the road barrier can be a road rod,electric retractable door or electric sliding door or the like; and theroad barrier controller can electrically controls the road barrier to bereleased or not to be released.

The vehicle controller 1 interacts with the road barrier controller 2corresponding to the place of the road barrier to accomplish the vehicleautomatically passing through the road barrier, which specificallyincludes: the road barrier controller 2 obtains the vehicleidentification information of the vehicle, performs the identityverification on the vehicle identification information, and controls theroad barrier to be released when the verification succeeds; and thevehicle controller 1 controls the vehicle to start and pass through theplace of the road barrier when determining that the road barrier isreleased.

The road barrier controller 2 obtains the vehicle identificationinformation of the vehicle, which specifically includes: the roadbarrier controller 2 identifies the vehicle identification informationof the vehicle; or the road barrier controller 2 receives the vehicleidentification information of the vehicle from the vehicle controller 1.

The mode in which the road barrier controller 2 identifies the vehicleidentification information of the vehicle can refer to the mode A11 orA12 in the first embodiment described above, and a detailed descriptionthereof will be omitted here.

The vehicle controller 1 determines that the road barrier is released,which specifically includes: the vehicle controller 1 determines thatthe road barrier is released when receiving an indication allowing topass through sent by the road barrier controller 2; or the vehiclecontroller 1 detects whether the road barrier is released via anon-board sensor, and determines that the road barrier is released whenthe releasing of the road barrier is detected.

The mode in which the vehicle controller 1 detects whether the roadbarrier is released via the on-board sensor can refer to the modes C1 toC2 in the first embodiment described above, and a detailed descriptionthereof will be omitted here.

The mode in which the road barrier controller 2 performs the identityverification on the vehicle identification information can refer to themodes B1 to B3 in the first embodiment described above, and a detaileddescription thereof will be omitted here.

The road barrier controller 2 is further configured to send a firstindication information of not allowing to pass through and indicatingthe vehicle to leave the place of road barrier through the ramp to thevehicle controller 1 when the verification fails; and the vehiclecontroller 1 is further configured to control the vehicle to start andleave the place of road barrier when receiving the first indicationinformation.

The place of road barrier is set to be a rotatable turnplate; the roadbarrier controller 2 is further configured to send a second indicationinformation of not allowing to pass through to the vehicle controller 1,and rotate the turnplate so as to make the head of the vehicle towardthe direction of leaving the place of road barrier; and the vehiclecontroller 1 is further configured to control the vehicle to start andleave the place of road barrier when receiving the second indicationinformation.

The vehicle controller 1 controls the vehicle to drive automatically andstop at the place of the road barrier, which specifically includes:

the vehicle controller 1 plans a path from the current place to theplace of road barrier, and controls the vehicle to drive automaticallyalong the path;

the vehicle controller 1 controls the vehicle to stop when identifyingan object presented in the front of the vehicle as a road barrier andthe distance between the road barrier and the vehicle is less than orequal to the preset distance threshold, based on the image or pointcloud data sent by the on-board sensor.

Third Embodiment

Based upon the same concept of the method of implementing the vehicleautomatically passing through the road barrier, the third embodiment ofthe application provides a road barrier controller. The structure of theroad barrier controller is as shown in FIG. 8, which includes:

a communication unit 21 configured to receive and send information;

a road barrier control unit 22 configured to obtain vehicleidentification information of a vehicle, perform identity verificationon the vehicle identification information, and control a road barrier tobe released when the verification succeeds.

The road barrier control unit 22 is further configured to: send anindication allowing to pass through by the communication unit 21 to avehicle controller of the vehicle when the verification succeeds.

The road barrier control unit 22 obtains the vehicle identificationinformation of the vehicle, which is specifically configured to:

identify the vehicle identification information of the vehicle; or,receive the vehicle identification information of the vehicle by thecommunication unit 21 from the vehicle controller.

The road barrier control unit 22 identifies the vehicle identificationinformation of the vehicle, which is specifically configured to: controla sensor to take an image of the vehicle, and perform imageidentification processing on an image to obtain the vehicleidentification information of the vehicle; or, control the sensor toscan a two-dimensional code or bar code on the vehicle, to obtain thevehicle identification information of the vehicle.

The road barrier control unit 22 is further configured to: send a firstindication information of not allowing to pass through and indicatingthe vehicle to leave the place of road barrier from a ramp by thecommunication unit 21 to the vehicle controller of the vehicle when theverification fails.

The place of road barrier is set to be a rotatable turnplate, and theroad barrier control unit 22 is further configured to: send a secondindication information of not allowing to pass through by thecommunication unit 21 to the vehicle controller, and rotate theturnplate so as to make the head of the vehicle toward the direction ofleaving the place of road barrier when the verification fails.

Fourth Embodiment

Based upon the same concept of the method of implementing vehicleautomatically passing through road barrier, the fourth embodiment of theapplication provides a vehicle controller. The structure of the vehiclecontroller is as shown in FIG. 9, which includes:

a communication unit 11 configured to receive and send information;

a control unit 12 configured to control a vehicle to drive automaticallyand stop at a place of a road barrier, and interact with a road barriercontroller corresponding to the place of the road barrier to accomplishthe vehicle automatically passing through the road barrier.

The control unit 12 interacts with the road barrier controllercorresponding to the place of road barrier to accomplish the vehicleautomatically passing through the road barrier, which specificallyincludes: the control unit 12 sends the vehicle identificationinformation to the road barrier controller by the communication unit 11;and the control unit 12 controls the vehicle to start and pass throughthe place of road barrier when receiving by the communication unit 11 anindication allowing to pass through sent by the road barrier controller.

The control unit 12 interacts with the road barrier controllercorresponding to the place of road barrier to accomplish the automaticpassing through of the road barrier, which specifically includes: thecontrol unit 12 detects whether the road barrier is released via anon-board sensor, and controls the vehicle to start and pass through theplace of road barrier when detecting the releasing.

The control unit 12 detects whether the road barrier is released via theon-board sensor, which specifically includes:

the control unit 12 determines that the road barrier is released whenjudging that the road barrier is in a released state by image or pointcloud data sent by the on-board sensor.

The control unit 12 controls the vehicle to drive automatically and stopat the place of road barrier, which specifically includes:

the control unit 12 plans a path from the current place to the place ofroad barrier, and controls the vehicle to drive automatically along thepath; and the control unit 12 controls the vehicle to stop whenidentifying an object presented in the front of the vehicle as a roadbarrier and the distance between the road barrier and the vehicle isless than or equal to the preset distance threshold, based on the imageor point cloud data sent by an on-board sensor.

It should be understood by those skilled in the art that the embodimentsof the present application can provide methods, systems and computerprogram products. Thus the present application can take the form ofhardware embodiments alone, application software embodiments alone, orembodiments combining the application software and hardware aspects.Also the present application can take the form of computer programproducts implemented on one or more computer usable storage mediums(including but not limited to magnetic disk memories, CD-ROMs, opticalmemories and the like) containing computer usable program codes therein.

The present application is described by reference to the flow chartsand/or the block diagrams of the methods, the devices (systems) and thecomputer program products according to the embodiments of the presentapplication. It should be understood that each process and/or block inthe flow charts and/or the block diagrams, and a combination ofprocesses and/or blocks in the flow charts and/or the block diagrams canbe implemented by the computer program instructions. These computerprogram instructions can be provided to a general-purpose computer, adedicated computer, an embedded processor, or a processor of anotherprogrammable data processing device to produce a machine, so that anapparatus for implementing the functions specified in one or moreprocesses of the flow charts and/or one or more blocks of the blockdiagrams is produced by the instructions executed by the computer or theprocessor of another programmable data processing device.

These computer program instructions can also be stored in a computerreadable memory which is capable of guiding the computer or anotherprogrammable data processing device to operate in a particular way, sothat the instructions stored in the computer readable memory produce amanufacture including the instruction apparatus which implements thefunctions specified in one or more processes of the flow charts and/orone or more blocks of the block diagrams.

These computer program instructions can also be loaded onto the computeror another programmable data processing device, so that a series ofoperation steps are performed on the computer or another programmabledevice to produce the computer-implemented processing. Thus theinstructions executed on the computer or another programmable deviceprovide steps for implementing the functions specified in one or moreprocesses of the flow charts and/or one or more blocks of the blockdiagrams.

Although the preferred embodiments of the present application have beendescribed, those skilled in the art can make additional alterations andmodifications to these embodiments once they learn about the basiccreative concepts. Thus the attached claims are intended to beinterpreted to include the preferred embodiments as well as all thealterations and modifications falling within the scope of the presentapplication.

Evidently those skilled in the art can make various modifications andvariations to the application without departing from the spirit andscope of the application. Thus the application is also intended toencompass these modifications and variations therein as long as thesemodifications and variations come into the scope of the claims of theapplication and their equivalents.

What is claimed is:
 1. A method of implementing a vehicle automaticallypassing through a barrier, the method comprising: controlling, by avehicle controller, the vehicle to drive automatically and stop at aplace of a road barrier, wherein the place of road barrier is set to bea rotatable turnplate; and interacting, by the vehicle controller, witha road barrier controller corresponding to the place of road barrier toaccomplish the vehicle automatically passing through the road barriercomprising: sending, by the vehicle controller, vehicle identificationinformation of the vehicle; receiving, by the vehicle controller, anindication information of not allowing the vehicle to pass through thebarrier from the road barrier controller when a verification of thevehicle identification information fails, wherein the turnplate isrotated, by the road barrier controller, when a verification of thevehicle identification information fails so as to make the head of thevehicle toward a direction of leaving the place of road barrier; andcontrolling, by the vehicle controller, the vehicle to start and leavethe place of the road barrier when receiving the indication informationof not allowing the vehicle to pass.
 2. A system of implementing avehicle automatically passing through a barrier, the system comprising avehicle controller and a road barrier controller wherein: the vehiclecontroller controls the vehicle to drive automatically and stop at aplace of road barrier, wherein the place of road barrier is set to be arotatable turnplate; and the vehicle controller interacts with the roadbarrier controller corresponding to the place of road barrier toaccomplish the vehicle automatically passing through the barrier,further wherein: the vehicle controller sends vehicle identificationinformation of the vehicle to the road barrier controller; the vehiclecontroller receives an indication information of not allowing thevehicle to pass through the barrier from the road barrier controller;the turnplate is rotated by the road barrier controller so as to makethe head of the vehicle toward a direction of leaving the place of roadbarrier, when a verification of the vehicle identification informationfails; and the vehicle controller controls the vehicle to start andleave the place of the road barrier when receiving the indicationinformation of not allowing the vehicle to pass through the barrier. 3.The method of claim 1, wherein interacting, by the vehicle controller,with the road barrier controller corresponding to the place of roadbarrier, further comprises: performing, by the road barrier controller,identity verification on the vehicle identification information;controlling, by the road barrier controller, a road barrier to bereleased when the verification succeeds; and controlling, by the vehiclecontroller, the vehicle to start and pass through the place of the roadbarrier after determining that the road barrier is released.
 4. Themethod of claim 1, wherein obtaining, by the road barrier controller,the vehicle identification information of the vehicle, furthercomprises: identifying, by the road barrier controller, the vehicleidentification information of the vehicle; or receiving, by the roadbarrier controller, the vehicle identification information of thevehicle from the vehicle controller.
 5. The method of claim 4, whereinidentifying, by the road barrier controller, the vehicle identificationinformation of the vehicle, further comprises: controlling, by the roadbarrier controller, a sensor to take an image of the vehicle, andperforming image identification processing on the image to obtain thevehicle identification information of the vehicle; or controlling, bythe road barrier controller, the sensor to scan a two-dimensional codeor bar code on the vehicle, to obtain the vehicle identificationinformation of the vehicle.
 6. The method of claim 3, whereindetermining, by the vehicle controller, that the road barrier isreleased, further comprises: determining, by the vehicle controller,that the road barrier is released when receiving an indication allowingthe vehicle to pass through sent by the road barrier controller; ordetecting, by the vehicle controller, whether the road barrier isreleased via an on-board sensor, and determining that the road barrieris released when the releasing of the road barrier is detected.
 7. Themethod of claim 6, wherein detecting, by the vehicle controller, whetherthe road barrier is released via the on-board sensor, comprises:determining, by the vehicle controller, that the road barrier isreleased when judging that the road barrier is in a released state basedon image data or point cloud data sent by the on-board sensor.
 8. Themethod of claim 3, further comprises: receiving, by the vehiclecontroller, an indication information of not allowing the vehicle topass through and indicating the vehicle to leave the place of roadbarrier through a ramp set around the place of the road barrier, whenthe verification of the vehicle identification information fails; andcontrolling, by the vehicle controller, the vehicle to start and leavethe place of the road barrier through the ramp when receiving theindication information.
 9. The method of claim 8, wherein: the turnplateis rotated toward to two directions, one of which is the direction ofpassing through the place of the road barrier and another of which isthe direction of leaving the place of the road barrier; and thedirection of leaving the place of the road barrier is opposite to thedirection of passing through the road barrier, or the direction ofleaving the place of the road barrier is the direction towards to theramp.
 10. The method of claim 1, wherein controlling, by the vehiclecontroller, the vehicle to drive automatically and stop at the place ofroad barrier, further comprises: planning, by the vehicle controller, apath from a current place to the place of the road barrier, andcontrolling the vehicle to drive automatically along the path; andcontrolling the vehicle to stop when the vehicle controller identifiesan object presented in the front of the vehicle as a road barrier and adistance of the road barrier from the vehicle is less than or equal to apreset distance threshold, based on image data or point cloud data sentby an on-board sensor.
 11. The method of claim 3, wherein there isvehicle identification information of the vehicles allowed to passthrough pre-stored in the road barrier controller; and whereinperforming, by the road barrier controller, identity verification on thevehicle identification information comprises: matching the obtainedvehicle identification information with the pre-stored vehicleidentification information of the vehicles allowed to pass through; anddetermining the verification is successful when the match succeeds. 12.The method of claim 3, wherein there are passing rules pre-stored in theroad barrier controller, and the passing rules comprise at least one of:a vehicle type conforms to the preset vehicle types, a license platenumber belongs to a predetermined region, or the vehicle identificationinformation is the registered information; and wherein performing, bythe road barrier controller, identity verification on the vehicleidentification information comprises: judging whether the obtainedvehicle identification information conforms to the passing rules; and ifso, determining the verification is successful.
 13. The method of claim5, wherein the two-dimensional code or bar code contains the vehicleidentification information and is pasted or printed in advance on thevehicle.
 14. A road barrier controller, comprising: a communication unitconfigured to receive and send information; and a road barrier controlunit configured to: obtain vehicle identification information of avehicle; perform identity verification on the vehicle identificationinformation; send an indication information of not allowing the vehicleto pass through to a vehicle controller on the vehicle; and rotate aturnplate set at the place of the road barrier so as to make a head ofthe vehicle face toward a direction of leaving the place of roadbarrier, when the verification fails, wherein the indication informationof not allowing the vehicle to pass through includes information thatcauses the vehicle controller to control the vehicle to start and leavethe place of the road barrier when receiving the indication information.15. The road barrier controller of claim 14, wherein the road barriercontrol unit is further configured to: control the road barrier to bereleased and send an indication allowing the vehicle to pass through bythe communication unit to a vehicle controller of the vehicle when theverification succeeds.
 16. The road barrier controller of claim 14,wherein the road barrier control unit configured to obtain the vehicleidentification information of the vehicle is further configured to:identify the vehicle identification information of the vehicle; orreceive the vehicle identification information of the vehicle by thecommunication unit from a vehicle controller.
 17. The road barriercontroller of claim 16, wherein the road barrier control unit configuredto identify the vehicle identification information of the vehicle isfurther configured to: control a sensor take an image of the vehicle,and perform image identification processing on the image to obtain thevehicle identification information of the vehicle; or control the sensorto scan a two-dimensional code or bar code on the vehicle to obtain thevehicle identification information of the vehicle.
 18. The road barriercontroller of claim 14, wherein there is a ramp around the place of theroad barrier, and the road barrier control unit is further configuredto: send the indication information of not allowing the vehicle to passthrough and indicating the vehicle to leave the place of road barrierthrough the ramp, when the verification of the vehicle identificationinformation fails, so that the vehicle controller controls the vehicleto start and leave the place of the road barrier through the ramp whenreceiving the indication information.
 19. The road barrier controller ofclaim 14, wherein: the road barrier controller comprises pre-storedvehicle identification information of the vehicles allowed to passthrough; and the road barrier control unit configured to obtain vehicleidentification information of a vehicle and to perform identityverification on the vehicle identification information is furtherconfigured to: match the obtained vehicle identification informationwith the pre-stored vehicle identification information of the vehiclesallowed to pass through; and determine the verification is successfulwhen the match succeeds.
 20. The road barrier controller of claim 14,wherein: the road barrier controller comprises pre-stored passing rules,and the passing rules comprise at least one of: a vehicle type conformsto the preset vehicle types; a license plate number belongs to apredetermined region; or the vehicle identification information is theregistered information; and the road barrier control unit configured toobtain vehicle identification information of a vehicle and to performidentity verification on the vehicle identification information isfurther configured to: judge whether the obtained vehicle identificationinformation conforms to the passing rules; and if so, determine theverification is successful.